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They call it a tcpdump but Wireshark analyzes all network traffic. You can use the udp.port == 51820
Do you have a laptop? Probably more tools and easier to test from there.
Meant to say if you still get stuck, run Wireshark on your FW and your VPS and run a tcp dump and filter the traffic to see where the data stops.
You can also use traceroute to your public IP on the port 51820 and check your connectivity or even curl: -v http:////publicip:51820
Did you setup a NAT on the firewall? You have to setup a static NAT on the interface that your Public IP sits on and to the private IP address of your VPS (you are using a private network space from one of the other interfaces on your FW right?).
Make sure that the policy that you create with the NAT includes UDP 51820 (unless you changed the default port) People often mistake using TCP which is a different protocol. If that doesn’t work, then look at the traffic on your FW
I couldn’t see it the wrong way at all until I really stared at it. Then once I saw it, I couldn’t unsee it. lol